diff --git a/CMakeLists.txt b/CMakeLists.txt
index fc5de76..f9565da 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,6 +51,8 @@ add_message_files(
   FILES
   drive_params.msg
   drive_values.msg
+  dist_vel.msg
+  pid_input.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/dist_vel.msg b/msg/dist_vel.msg
new file mode 100644
index 0000000..00b4cf9
--- /dev/null
+++ b/msg/dist_vel.msg
@@ -0,0 +1,4 @@
+float32 dist_left
+float32 dist_right
+float32 heading_angle_rad
+float32 velocity
diff --git a/msg/pid_input.msg b/msg/pid_input.msg
new file mode 100644
index 0000000..00b4cf9
--- /dev/null
+++ b/msg/pid_input.msg
@@ -0,0 +1,4 @@
+float32 dist_left
+float32 dist_right
+float32 heading_angle_rad
+float32 velocity